void URConnect()
{
aRTClient.startRTClient(); //启动RTClient server
demoInstance.startPrimary(); //启动同步
//timer1.Start();
//timer2.Start();
//StartCoroutine(timer1_Tick());
StartCoroutine(timer2_Tick());
}
private void button2_Click(object sender, EventArgs e)
{
aRTClient.startRTClient();
while (aRTClient.Status != RTClientStatus.Syncing)
{
Thread.Sleep(10);
}
button2.Enabled = false;
button3.Enabled = true;
}
private void initURRobot()
{
aDashBoard = new DashBoard("192.168.100.11");
aRTClient = new RTClient("192.168.100.11");
aRTDE = new RTDE(System.Environment.CurrentDirectory + "\\RTDEConfig.xml", "192.168.100.11");
//RTDE用于采集数据
aRTDE.startSync();
if (!aRTDE.isSynchronizing)
{
Thread.Sleep(10);
}
//RTClient用来控制
aRTClient.startRTClient();
while (aRTClient.Status != RTClientStatus.Syncing)
{
Thread.Sleep(10);
}
Thread thread = new Thread(new ThreadStart(refreshRobotData));
thread.Start();
}
/// <summary>
///PointCloudの各点に対応する色の配列
/// </summary>
//System.Numerics.Vector3[] vertices;
/// <summary>
/// vertices中の何番目の点を描画するかのリスト(全部描画するけど手続き上必要)
/// </summary>
//Color[] colors;
/// <summary>
/// 座標変換(Color⇔Depth対応やDepth→xyzなど)をするためのクラス
/// </summary>
//int[] indices;
/// <summary>
/// Initializes a new instance of the MainWindow class.
/// </summary>
public MainWindow()
{
//set the robotic arm
aDashBoard = new DashBoard("169.254.213.1");
aRTClient = new RTClient("169.254.213.1");
primaryInt = new PrimaryInterface("169.254.213.1", 30001); //30001
aRTClient.startRTClient(); //169.254.213.1 //192.168.1.128
primaryInt.startPrimary();
// Open the default device
this.kinect = Device.Open();
// Configure camera modes
this.kinect.StartCameras(new DeviceConfiguration
{
ColorFormat = ImageFormat.ColorBGRA32,
ColorResolution = ColorResolution.R1080p,
DepthMode = DepthMode.NFOV_2x2Binned,
SynchronizedImagesOnly = true
});
//NFOV
matrix_T_tool2tcp[0, 0] = -0.707;
matrix_T_tool2tcp[0, 1] = -0.0739;
matrix_T_tool2tcp[0, 2] = 0.7031;
matrix_T_tool2tcp[0, 3] = 0.0566;
matrix_T_tool2tcp[1, 0] = 0.7070;
matrix_T_tool2tcp[1, 1] = -0.0739;
matrix_T_tool2tcp[1, 2] = 0.7031;
matrix_T_tool2tcp[1, 3] = 0.0566;
matrix_T_tool2tcp[2, 0] = 0;
matrix_T_tool2tcp[2, 1] = 0.9945;
matrix_T_tool2tcp[2, 2] = 0.1045;
matrix_T_tool2tcp[2, 3] = 0.1002;
matrix_T_tool2tcp[3, 0] = 0;
matrix_T_tool2tcp[3, 1] = 0;
matrix_T_tool2tcp[3, 2] = 0;
matrix_T_tool2tcp[3, 3] = 1;
this.transform = this.kinect.GetCalibration().CreateTransformation();
this.colorWidth = this.kinect.GetCalibration().ColorCameraCalibration.ResolutionWidth;
this.colorHeight = this.kinect.GetCalibration().ColorCameraCalibration.ResolutionHeight;
this.depthWidth = this.kinect.GetCalibration().DepthCameraCalibration.ResolutionWidth;
this.depthHeight = this.kinect.GetCalibration().DepthCameraCalibration.ResolutionHeight;
this.bitmap = new WriteableBitmap(colorWidth, colorHeight, 96.0, 96.0, PixelFormats.Bgra32, null);
this.num = depthHeight * depthWidth;
vertices_0_b1 = new Vector3[num];
vertices_0_b2 = new Vector3[num];
vertices_0_b3 = new Vector3[num];
vertices_0_b4 = new Vector3[num];
vertices_0_b5 = new Vector3[num];
colors_0_b1 = new Color32[num];
colors_0_b2 = new Color32[num];
colors_0_b3 = new Color32[num];
colors_0_b4 = new Color32[num];
colors_0_b5 = new Color32[num];
this.DataContext = this;
this.InitializeComponent();
}